• Journal of Korea Multimedia Society
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• v.24 no.11
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• pp.1538-1551
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• 2021

The current drone flight plan creation creates a flight path point of two-dimensional coordinates on the map and sets an arbitrary altitude value considering the altitude of the terrain and the possible flight altitude. If the created flight path is a simple terrain such as a mountain or field, or if the user is familiar with the terrain, setting the flight altitude will not be difficult. However, for drone flight in a city where buildings are dense, a safer and more precise flight path generation method is needed. In this study, using high-precision spatial information, we construct a drone safety flight map with a 3D grid map structure and propose a flight path search algorithm based on it. The safety of the flight path is checked through the virtual drone flight simulation extracted by searching for the flight path based on the 3D grid map created by setting weights on the properties of obstacles and terrain such as buildings.

• International Journal of Internet, Broadcasting and Communication
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• v.10 no.2
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• pp.13-18
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• 2018

Drones are controlled by the remote pilot from the ground stations using the radio control or autonomously following the pre-programmed flight plans. In this paper, we develop a method and an optimal path search system for providing 3D augmented reality flight (ARF) images for safe and efficient flight control of drones. The developed system consisted of the drone, the ground station and user terminals, and the optimal path search server. We use the Dijkstra algorithm to find the optimal path considering the drone information, flight information, environmental information, and flight mission. We generate a 3D augmented reality flight (ARF) image overlaid with the path information as well as the drone information and the flight information on the flight image received from the drone. The ARF image for adjusting the drone is generated by overlaying route information, drone information, flight information, and the like on the image captured by the drone.

• Journal of Korea Multimedia Society
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• v.13 no.9
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• pp.1373-1381
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• 2010

Current flight maneuver diagram used by pilots is based on 2D spatial presentation, so it has limitation on display 3D flight information and hard to understand it instinctively. Flight animation authoring tools for this diagram are complex to use and lack useful features like non-linear editing of flight path and real-time interactivity on multiple aircrafts. This research focuses on 3D flight path generation method in the animation system for flight maneuver education. This research combines initial sketch input on 2D diagram with the thrust of an aircraft to generate 3D linear spline as close as to real flight. Using suggested linear spline creation method, the flight path can be visualized, edited, and animated in real-time at the flight maneuver briefing and debriefing.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.337-345
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• 2023

In this paper, we propose a 3D LiDAR sensor-based costmap generation and path planning algorithm using it for reliable autonomous flight in complex indoor environments. 3D path planning is essential for reliable operation of UAVs. However, existing grid search-based or random sampling-based path planning algorithms in 3D space require a large amount of computation, and UAVs with weight constraints require reliable path planning results in real time. To solve this problem, we propose a method that divides a 3D space into several 2D spaces and a path planning algorithm that considers the distance to obstacles within each space. Among the paths generated in each space, the final path (Best path) that the UAV will follow is determined through the proposed objective function, and for this purpose, we consider the rotation angle of the 2D space, the path length, and the previous best path information. The proposed methods have been verified through autonomous flight of UAVs in real environments, and shows reliable obstacle avoidance performance in various complex environments.

• Journal of Korea Multimedia Society
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• v.24 no.10
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• pp.1346-1357
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• 2021

The drone technology, which is receiving a lot of attention due to the 4th industrial revolution, requires an Unmanned Aerial Vehicles'(UAVs) flight path search algorithm for automatic operation and driver assistance. Various studies related to flight path prediction and recommendation algorithms are being actively conducted, and many studies using the A-Star algorithm are typically performed. In this paper, we propose an Optimal 3D Flight Path Recommendation System for unmanned aerial vehicles. The proposed system was implemented and simulated in Unity 3D, and by indicating the meaning of the route using three different colors, such as planned route, the recommended route, and the current route were compared each other. And obstacle response experiments were conducted to cope with bad weather. It is expected that the proposed system will provide an improved user experience compared to the existing system through accurate and real-time adaptive path prediction in a 3D mixed reality environment.

• Journal of Aerospace System Engineering
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• v.13 no.3
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• pp.15-22
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• 2019

In this paper, a global and local flight path system for autonomous flight of the UAV is proposed. The overall system is based on the ROS robot operating system. The UAV in-built computer detects obstacles through 2-D Lidar and generates real-time local path and global path based on VFH and Modified $RRT^*$-Smart, respectively. Additionally, a movement command is issued based on the generated path on the UAV flight controller. The ground station computer receives the obstacle information and generates a 2-D SLAM map, transmits the destination point to the embedded computer, and manages the state of the UAV. The autonomous UAV flight system of the is verified through a simulator and actual flight.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.316-322
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• 2023

The increasing popularity of autonomous unmanned aerial vehicles (UAVs) can be attributed to their wide range of applications. 3D path planning is one of the crucial components enabling autonomous flight. In this paper, we present a novel 3D path planning algorithm that generates and utilizes curvature-based trajectories. Our approach leverages circular properties, offering notable advantages. First, circular trajectories make collision detection easier. Second, the planning procedure is streamlined by eliminating the need for the spline process to generate dynamically feasible trajectories. To validate our proposed algorithm, we conducted simulations in Gazebo Simulator. Within the simulation, we placed various obstacles such as pillars, nets, trees, and walls. The results demonstrate the efficacy and potential of our proposed algorithm in facilitating efficient and reliable 3D path planning for UAVs.

• Spatial Information Research
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• v.15 no.4
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• pp.363-370
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• 2007

This study has been carried for the development of the basic algorithm of helicopter navigation system based on TRN (Terrain Referenced Navigation) with information input from the GPS. The helicopter determines flight path due to Origination-Destination analysis on the Cartesian coordinate system of 3-D DTM. This system shows 3-D mesh map and the O-D flight path profile for the pilot's acknowledgement of the terrain, at first. The system builds TCF (terrain clearance floor) far the buffer zone upon the surface of ground relief to avid the ground collision. If the helicopter enters to the buffer zone during navigation, the real-time warning message which commands to raise the body pops up using Matlab menu. While departing or landing, control of the height of the body is possible. At present, the information (x, y, z coordinates) from the GPS is assumed to be input into the system every 92.8 m of horizontal distance while navigating along flight path. DTM of 3" interval has been adopted from that which was provided by ChumSungDae Co., Ltd..

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1386-1391
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• 2004

It is known that an aircraft with delta-wings which are attached to the body at a large angle like a kite or a hang glider has a measure of maneuverability and stability. Aircrafts of this kind can fly stably. Even if engine trouble occurs, it will not fall and might be able to land. In this paper, one of the conventional control methods, PID control, is applied to the aircraft with LQ local control block. This is based on an idea that the aircraft flies so stably that the automatic control system might be realized by a simple controller. The proposed PID controller consists of several sub-controllers which are constructed to each system neglecting the interference. In addition, the LQ control is involved as a local loop of the aileron and rudder control in order to increase stability of the attitude when circling. The effectiveness of the proposed method is shown through 3D computer simulations and experiments of the flight path control.

• Journal of KIBIM
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• v.6 no.1
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• pp.1-8
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• 2016

This paper provides a method for generating flight path of Unmanned Aerial Vehicle (UAV) that is intended to be used in visual inspection of dome-type nuclear containment building. The method basically employs 3-D model to extract accurate location coordinates. Two basic route patterns that provide guide lines in defining moving locations were defined for each side wall and dome section of the containment. The route patterns support sequential capturing of images as well. In addition, several simple equations and an algorithm for calculation of the moving location on the route were developed on the basis of 3-D geometric characteristics of the containment building. A prototype computer program has been implemented to validate the proposed method, and a case study shows the method can visualize covering area in 3-D model as well.